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dgregorius: Changed hinge constraint to use JacobianEntry class. Also removed change from last submission to JacobianEntry constructor for angular constraints.

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dondickied
2006-06-12 19:53:41 +00:00
parent 03ed5eafff
commit 7535b02e58
6 changed files with 184 additions and 229 deletions
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14
BulletDynamics/ConstraintSolver/JacobianEntry.h
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@@ -49,21 +49,25 @@ public:
m_0MinvJt = inertiaInvA * m_aJ;
m_1MinvJt = inertiaInvB * m_bJ;
m_Adiag = massInvA + m_0MinvJt.dot(m_aJ) + massInvB + m_1MinvJt.dot(m_bJ);
assert(m_Adiag > 0.0f);
}
//angular constraint between two different rigidbodies
//angular constraint between two different rigidbodies
JacobianEntry(const SimdVector3& jointAxis,
const SimdMatrix3x3& world2A,
const SimdMatrix3x3& world2B,
const SimdVector3& inertiaInvA,
const SimdVector3& inertiaInvB)
:m_jointAxis(jointAxis)
:m_jointAxis(m_jointAxis)
{
m_aJ= world2A*m_jointAxis;
m_bJ = world2B*-m_jointAxis;
m_aJ= world2A*jointAxis;
m_bJ = world2B*-jointAxis;
m_0MinvJt = inertiaInvA * m_aJ;
m_1MinvJt = inertiaInvB * m_bJ;
m_Adiag = m_0MinvJt.dot(m_aJ) + m_1MinvJt.dot(m_bJ);
assert(m_Adiag > 0.0f);
}
//constraint on one rigidbody
@@ -80,6 +84,8 @@ public:
m_0MinvJt = inertiaInvA * m_aJ;
m_1MinvJt = SimdVector3(0.f,0.f,0.f);
m_Adiag = massInvA + m_0MinvJt.dot(m_aJ);
assert(m_Adiag > 0.0f);
}
SimdScalar getDiagonal() const { return m_Adiag; }